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EKF: fix code style

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This commit is contained in:
bugobliterator
2016-01-31 00:12:16 -08:00
parent 8200ef4d17
commit d79e12dfa1
11 changed files with 864 additions and 827 deletions
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EKF/estimator_interface.h
+20 -20
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@@ -81,24 +81,24 @@ public:
virtual void get_covariances(float *covariances) = 0;
// get the ekf WGS-84 origin positoin and height and the system time it was last set
virtual void get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt) = 0;
// get the ekf WGS-84 origin positoin and height and the system time it was last set
virtual void get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt) = 0;
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
virtual bool collect_gps(uint64_t time_usec, struct gps_message *gps) { return true; }
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
virtual bool collect_gps(uint64_t time_usec, struct gps_message *gps) { return true; }
virtual bool collect_imu(imuSample &imu) { return true; }
virtual bool collect_imu(imuSample &imu) { return true; }
virtual bool collect_mag(uint64_t time_usec, float *data) { return true; }
virtual bool collect_mag(uint64_t time_usec, float *data) { return true; }
virtual bool collect_baro(uint64_t time_usec, float *data) { return true; }
virtual bool collect_baro(uint64_t time_usec, float *data) { return true; }
virtual bool collect_airspeed(uint64_t time_usec, float *data) { return true; }
virtual bool collect_airspeed(uint64_t time_usec, float *data) { return true; }
virtual bool collect_range(uint64_t time_usec, float *data) { return true; }
virtual bool collect_range(uint64_t time_usec, float *data) { return true; }
virtual bool collect_opticalflow(uint64_t time_usec, float *data) { return true; }
virtual bool collect_opticalflow(uint64_t time_usec, float *data) { return true; }
// set delta angle imu data
void setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float *delta_ang, float *delta_vel);
@@ -125,8 +125,8 @@ public:
// in order to give access to the application
parameters *getParamHandle() {return &_params;}
// set vehicle arm status data
void set_arm_status(bool data){ _vehicle_armed = data; }
// set vehicle arm status data
void set_arm_status(bool data) { _vehicle_armed = data; }
void printIMU(struct imuSample *data);
void printStoredIMU();
@@ -189,21 +189,21 @@ protected:
outputSample _output_new;
imuSample _imu_sample_new;
uint64_t _imu_ticks;
uint64_t _imu_ticks;
bool _imu_updated = false;
bool _initialised = false;
bool _vehicle_armed = false; // vehicle arm status used to turn off functionality used on the ground
bool _vehicle_armed = false; // vehicle arm status used to turn off functionality used on the ground
bool _NED_origin_initialised = false;
bool _gps_speed_valid = false;
struct map_projection_reference_s _pos_ref = {}; // Contains WGS-84 position latitude and longitude (radians)
bool _NED_origin_initialised = false;
bool _gps_speed_valid = false;
struct map_projection_reference_s _pos_ref = {}; // Contains WGS-84 position latitude and longitude (radians)
bool _mag_healthy = false; // computed by mag innovation test
float _yaw_test_ratio; // yaw innovation consistency check ratio
float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios
float _yaw_test_ratio; // yaw innovation consistency check ratio
float _mag_test_ratio[3]; // magnetometer XYZ innovation consistency check ratios
float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios
float _vel_pos_test_ratio[6]; // velocity and position innovation consistency check ratios
RingBuffer<imuSample> _imu_buffer;
RingBuffer<gpsSample> _gps_buffer;